Problem with converting rosmake package to catkin package

edit

replace the old CMakeList files with new files, update the layout(thank you dornhege), add the layout with tree command

I'm currently working with a project with two rosmake package.

Both package contains several .cpp files and .h files but there are no main function in any those cpp files, and none of this file have ros functions like ros::initial() blah blah, so they are just ordinary cpp files.

I successfully convert the first package into a catkin package(follow http://wiki.ros.org/catkin/migrating_... and the catkin 0.6.15 document) then I run the catkin_make at my work space. Everything works well, I got a lot of .cpp.o files and a libmathlib.so (mathlib is the name of this package) file.

And in the second package, I want to use the first package. But here comes the problem, I convert the menifest.xml and CMakeList.txt into catkin format file, but as I catkin_make this package

This problem shows up

In file included from /home/lc/ros_ws/src/SEDS/src/GMR.cpp:31:0:
/home/lc/ros_ws/src/SEDS/include/GMR.h:28:28: fatal error: mathlib/Mathlib.h: No such file or directory
 #include<mathlib/Mathlib.h>

Thank you for your reading, and does any one know how to solve this problem? If there are any extra information needed for this problem, please tell me.

CmakeLists: mathlib:

cmake_minimum_required(VERSION 2.8.3)
project(mathlib)

find_package(catkin REQUIRED COMPONENTS roscpp)

include_directories(include ${catkin_INCLUDE_DIRS})

catkin_package(CATKIN_DEPENDS roscpp
               INCLUDE_DIRS include
               LIBRARIES ${PROJECT_NAME})

set(THE_SOURCE_FILES
    src/Differentiator.cpp
    src/GradientDescent.cpp
    src/IKGroupSolver.cpp
    src/IKSubSolver.cpp
    src/Macros.cpp
    src/MathLibCommon.cpp
    src/MathLib.cpp
    src/Matrix3.cpp
    src/Matrix4.cpp
    src/Matrix.cpp
    src/ReferenceFrame.cpp
    src/Regression.cpp
    src/SpatialForce.cpp
    src/SpatialFrame.cpp
    src/SpatialInertia.cpp
    src/SpatialMatrix.cpp
    src/SpatialVector.cpp
    src/SpatialVelocity.cpp
    src/TMatrix.cpp
    src/TVector.cpp
    src/Vector3.cpp
    src/Vector.cpp
    )

add_library(${PROJECT_NAME} ${THE_SOURCE_FILES} )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencpp)


install(TARGETS ${PROJECT_NAME}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h")

Another package(seds):

cmake_minimum_required(VERSION 2.8.3)
project(seds)

find_package(catkin REQUIRED COMPONENTS roscpp mathlib)


include_directories(include ${catkin_INCLUDE_DIRS})

catkin_package(CATKIN_DEPENDS mathlib
           DEPENDS roscpp
               INCLUDE_DIRS include
               LIBRARIES seds
)

set(THE_SOURCE_FILES
    src/GMR.cpp
    )


add_library(seds ${THE_SOURCE_FILES})
target_link_libraries(seds ${catkin_LIBRARIES})

install(TARGETS seds
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

Layout of mine two packages mathlib package

    .
    ├── CMakeLists.txt
    ├── include
    │   └── mathlib
    │       ├── Differentiator.h
    │       ├── GradientDescent.h
    │       ├── IKGroupSolver.h
    │       ├── IKSubSolver.h
    │       ├── Macros.h
    │       ├── MathLibCommon.h
    │       ├── MathLib.h
    │       ├── Matrix3.h
    │       ├── Matrix4.h
    │       ├── Matrix.h
    │       ├── ReferenceFrame.h
    │       ├── Regression.h
    │       ├── SpatialForce.h
    │       ├── SpatialFrame.h
    │       ├── SpatialInertia.h
    │       ├── SpatialMatrix.h
    │       ├── SpatialVector.h
    │       ├── SpatialVelocity.h
    │       ├── TMatrix.h
    │       ├── tmp.txt
    │       ├── TVector.h
    │       ├── Vector3.h
    │       └── Vector.h
    ├── package.xml
    └── src
        ├── Differentiator.cpp
        ├── GradientDescent.cpp
        ├── IKGroupSolver.cpp
        ├── IKSubSolver.cpp
        ├── Macros.cpp
        ├── MathLibCommon.cpp
        ├── MathLib.cpp
        ├── Matrix3.cpp
        ├── Matrix4.cpp
        ├── Matrix.cpp
        ├── ReferenceFrame.cpp
        ├── Regression.cpp
        ├── SpatialForce.cpp
        ├── SpatialFrame.cpp
        ├── SpatialInertia.cpp
        ├── SpatialMatrix.cpp ...